Improving actuation efficiency through variable recruitment hydraulic McKibben muscles: modeling, orderly recruitment control, and experiments
Improving actuation efficiency through variable recruitment hydraulic McKibben muscles: modeling, orderly recruitment control, and experiments
复制标题
通过可变募集液压 McKibben 肌肉提高驱动效率：建模、有序募集控制和实验
DOI：
10.1088/1748-3190/11/6/065004
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发表时间：
2016
影响因子：
3.4
通讯作者：
Ephrahim Garcia
中科院分区：
文献类型：
--
作者：
M. Meller;Jordan B. Chipka;A. Volkov;M. Bryant;Ephrahim Garcia
液压控制系统作为人类规模的腿式机器人和辅助设备的驱动手段已经变得越来越流行。这些系统的最大限制之一是它们的运行时间不受电源的限制。增加耐久性的一种方式是通过提高致动效率。我们调查减少伺服阀节流损失，通过使用选择性招聘人工肌肉束组成的三个电机单元。每个马达单元由一对连接到一个伺服阀的液压McKibben肌肉组成。人造肌肉束的压力和募集状态可以被调节以有效的方式匹配负载，非常像在骨骼肌中调节激发速率和募集的运动单元的总数。每个募集水平的模型中使用基于体积的有效初始编织角。这个半经验模型被用来预测所提出的可变招聘驱动计划与节流的方法的效率增益。提出了一种基于压力阈值的实时有序募集控制器。该控制器是用来实验验证模型预测的效率增益的招聘机器人手臂。结果表明，利用可变招聘允许更高的效率在更广泛的操作包络线。
Hydraulic control systems have become increasingly popular as the means of actuation for human-scale legged robots and assistive devices. One of the biggest limitations to these systems is their run time untethered from a power source. One way to increase endurance is by improving actuation efficiency. We investigate reducing servovalve throttling losses by using a selective recruitment artificial muscle bundle comprised of three motor units. Each motor unit is made up of a pair of hydraulic McKibben muscles connected to one servovalve. The pressure and recruitment state of the artificial muscle bundle can be adjusted to match the load in an efficient manner, much like the firing rate and total number of recruited motor units is adjusted in skeletal muscle. A volume-based effective initial braid angle is used in the model of each recruitment level. This semi-empirical model is utilized to predict the efficiency gains of the proposed variable recruitment actuation scheme versus a throttling-only approach. A real-time orderly recruitment controller with pressure-based thresholds is developed. This controller is used to experimentally validate the model-predicted efficiency gains of recruitment on a robot arm. The results show that utilizing variable recruitment allows for much higher efficiencies over a broader operating envelope.
影响因子：
1.4
作者：
Ferris, DP;Czerniecki, JM;Hannaford, B
通讯作者：
Hannaford, B